Scenario Simulation

Author scenes, generate sensor data, test algorithms in simulated environments

Simulation using realistic unmanned aerial vehicle (UAV) scenarios and sensor models is a crucial part of testing UAV algorithms. UAV Toolbox provides two simulation environments in which to test these algorithms. Both environments have their distinct uses, and one environment is not a replacement for the other.

In the cuboid simulation environment, vehicles and other platforms in the scenario are represented as simple box shapes, or for lidar applications, as polygon meshes. Use this environment to rapidly author scenarios or generate sensor data. Test controllers, tracking algorithms, and sensor fusion algorithms in both MATLAB^® and Simulink^®. To get started authoring a scenario, use the uavScenario object.
In the Unreal Engine^® simulation environment (requires Simulink 3D Animation™), scenarios are rendered using the Unreal Engine from Epic Games^®. Use this environment to visualize scenarios using more realistic graphics; to generate high-fidelity radar, camera, and lidar sensor data; and to test perception-in-the-loop systems. This environment is available in Simulink and runs on Windows^® only. To learn more, see Unreal Engine Simulation for Unmanned Aerial Vehicles.

Acknowledgements

Apps

UAV Scenario Designer

Design UAV scenarios with terrain, platforms, and sensors (Since R2022a)

Functions

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UAV Cuboid Scenarios

`uavScenario`	Generate UAV simulation scenario (Since R2020b)
`uavSensor`	Sensor for UAV scenario (Since R2020b)
`uavPlatform`	UAV platform for sensors and winds in scenarios (Since R2020b)
`extendedObjectMesh`	Mesh representation of extended object (Since R2020b)

Trajectory Generation

`uavMission`	Mission data for UAV flight (Since R2022b)
`uavCoveragePlanner`	Path planner for UAV space coverage (Since R2023a)
`uavCoverageSpace`	2D coverage area for coverage planner (Since R2023a)
`coverageDecomposition`	Decompose concave polygon into convex polygons (Since R2023a)
`multirotorMissionParser`	Generate trajectory for multirotor UAV from mission (Since R2022b)
`multirotorFlightTrajectory`	Multirotor UAV trajectory (Since R2022b)
`fixedwingMissionParser`	Generate trajectory for fixed-wing UAV from mission (Since R2022b)
`fixedwingFlightTrajectory`	Fixed-wing UAV trajectory (Since R2022b)
`waypointTrajectory`	Waypoint trajectory generator
`polynomialTrajectory`	Piecewise-polynomial trajectory generator (Since R2023a)

Sensor Models

`gpsSensor`	GPS receiver simulation model (Since R2020b)
`insSensor`	Inertial navigation system and GNSS/GPS simulation model (Since R2020b)
`uavLidarPointCloudGenerator`	Generate point clouds from meshes (Since R2020b)
`createCustomSensorTemplate`	Create sample implementation for UAV custom sensor interface (Since R2021a)
`uav.SensorAdaptor`	Custom UAV sensor interface (Since R2021a)
`targetPoses`	Find positions, orientations, velocities, angular velocities, and accelerations of targets relative to ego UAV platform (Since R2023b)

Wind Models

`uavWindSteady`	Generate steady wind for UAV platform (Since R2024a)
`uavWindGust`	Generate wind gust for UAV platform (Since R2024a)
`uavWindTurbulence`	Generate wind turbulence for UAV platform with discretized Von Kármán velocity spectra (Since R2024a)

Transformation Trees

`transformTree`	Define coordinate frames and relative transformations (Since R2020b)
`getGraph`	Graph object representing tree structure (Since R2020b)
`getTransform`	Get relative transform between frames (Since R2020b)
`info`	List all frame names and stored timestamps (Since R2020b)
`removeTransform`	Remove frame transform relative to its parent (Since R2020b)
`show`	Show transform tree (Since R2020b)
`updateTransform`	Update frame transform relative to its parent (Since R2020b)

Unreal Engine Simulation

`copyExampleSim3dProject`	Copy support package files and plugins to specified folders (Since R2022b)
`sim3d.Editor`	Interface to the Unreal Engine project (Since R2020b)
`sim3d.maps.Map`	Access additional scenes from the server (Since R2022b)
`sim3d.environment.GeospatialConfiguration`	Create 3D environment in Unreal Engine (Since R2024b)

Blocks

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UAV Mission Control and Visualization

Guidance Model	Reduced-order model for UAV
UAV Animation	Animate UAV flight path using translations and rotations
Path Manager	Compute and execute a UAV autonomous mission (Since R2020b)

Unreal Engine 3-D Simulation

Simulation 3D UAV Vehicle	Place UAV vehicle in 3D visualization (Since R2020b)
Simulation 3D Scene Configuration	Scene configuration for 3D simulation environment (Since R2020b)
Simulation 3D Camera	Camera sensor model with lens in 3D simulation environment (Since R2020b)
Simulation 3D Fisheye Camera	Fisheye camera sensor model in 3D simulation environment
Simulation 3D Lidar	Lidar sensor model in 3D simulation environment (Since R2020b)
Simulation 3D Ultrasonic Sensor	Ultrasonic sensor model in 3D simulation environment (Since R2023a)
Video Send	Send video stream to remote hardware (Since R2021b)

Sensors

GPS	Simulate GPS sensor readings with noise (Since R2021b)
INS	Simulate INS sensor (Since R2021b)

UAV Cuboid Scenario Simulation

UAV Scenario Configuration	Configure and simulate UAV scenarios (Since R2021b)
UAV Scenario Get Transform	Get transforms from UAV scenario platforms (Since R2021b)
UAV Scenario Lidar	Simulate lidar measurements based on meshes in scenario (Since R2021b)
UAV Scenario Motion Read	Read platform and sensor motions from UAV scenario simulation (Since R2021b)
UAV Scenario Motion Write	Update platform motion in UAV scenario simulation (Since R2021b)
UAV Scenario Scope	Visualize UAV scenario and lidar point clouds (Since R2021b)

Scenes and Vehicle Dimensions

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Scenes

US City Block	US city block Unreal Engine environment
Suburban scene	Suburban Unreal Engine environment

Vehicles

Quadrotor	Quadrotor vehicle dimensions
Fixed Wing Aircraft	Fixed wing aircraft dimensions

Topics

Simulation Basics

Unreal Engine Simulation for Unmanned Aerial Vehicles
Learn how to use unmanned aerial vehicle algorithms in Simulink and visualize their performance in a virtual environment using the Unreal Engine from Epic Games.
Unreal Engine Simulation Environment Requirements and Limitations
When simulating in the Unreal Engine environment, keep these software requirements, minimum hardware requirements, and limitations in mind.
How Unreal Engine Simulation for UAVs Works
Learn about the co-simulation framework between Simulink and the Unreal Engine and how block execution order affects simulation.
Coordinate Systems for Unreal Engine Simulation in UAV Toolbox
Understand the world and UAV coordinate systems when simulating in the Unreal Engine environment.
Visualize with Cesium
Stream 3D map and terrain data of a location.
Animate Multiple UAVs Using Dynamic Mesh
Animate multiple UAVs and dynamically adjust meshes using the UAV Animation Block.

Simulation with Sensors

Simulate UAV Mission in Urban Environment
Simulate a UAV mission in an urban environment using UAV scenario and OpenStreetMap® data of Manhattan, New York
Simulate IMU Sensor Mounted on UAV
Create a sensor adaptor for an imuSensor from Navigation Toolbox™ and gather readings for a simulated UAV flight scenario.
Simulate Radar Sensor Mounted on UAV
The radar sensor enables a UAV to detect other vehicles in the airspace, so that the UAV can predict other vehicle motion and make decisions to ensure clearance from other vehicles.
Choose a Sensor for Unreal Engine Simulation
Decide which camera, or lidar sensors to use during 3D simulation with the Unreal Engine.
Simulate Simple Flight Scenario and Sensor in Unreal Engine Environment
Visualize sensors in a simulation environment that uses Unreal Engine® from Epic Games®.
Depth and Semantic Segmentation Visualization Using Unreal Engine Simulation
This example shows how to visualize depth and semantic segmentation data captured from a camera sensor in a simulation environment.
Stream Camera, Depth and Semantic Segmentation Data from Unreal Engine to NVIDIA Jetson
This example shows how to stream simulated camera, depth, and semantic segmentation label data from an Unreal Engine® scene to NVIDIA® Jetson™ hardware using the Video Send block in Simulink®.
Map Environment for Motion Planning Using UAV Lidar
Use a UAV with lidar sensor to create a 3D occupancy map for motion planning.

Scene Customization

Customize Unreal Engine Scenes for UAVs

Customize Unreal Engine scenes for UAV flight applications.
- STEP 1: Install Support Package for Customizing Scenes
- STEP 2: Migrate Projects Developed Using Prior Support Packages
- STEP 3: Customize Unreal Engine Scenes Using Simulink and Unreal Editor
- STEP 4: Package Custom Scenes into Executable
Apply Semantic Segmentation Labels to Custom Scenes
Apply labels to objects in a scene so that you can obtain semantic segmentation data from a camera sensor.
Prepare Custom UAV Vehicle Mesh for the Unreal Editor
Create custom vehicle mesh for the Simulation 3D UAV Vehicle block.

Featured Examples

UAV Scenario Tutorial

Create a scenario to simulate unmanned aerial vehicle (UAV) flights between a set of buildings. The example demonstrates updating the UAV pose in open-loop simulations. Use the UAV scenario to visualize the UAV flight and generate simulated point cloud sensor readings.

Open Live Script

Design Obstacle Avoidance Package Delivery Scenario Using UAV Scenario Designer

Rapidly design and customize a UAV scenario to validate an obstacle avoidance algorithm.

Open Live Script

UAV Package Delivery

Implement a small multicopter simulation to takeoff, fly, and land in a city environment.

Open Live Script

Automate Testing for UAV Package Delivery Example

Edit requirements, link requirements to their implementation in a model, and verify their functionality in the context of a UAV application. The components of the model and requirements include guidance and control of a UAV implemented by the UAV Package Delivery example.